version: 66.02
glider: 16
mission: 6
dive: 174
start: 12 12 107 21 38 1
data:
$ID,16
$MISSION,6
$DIVE,174
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,566.1524
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2079276.2
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.08235
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,212858,6312.776,-847.652,39,6.6,58,-9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-54.6
$GPS2,213711,6312.932,-847.655,18,2.2,37,-9.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,IFRVAL
$TGT_LATLONG,6312.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.217,0.043
$KALMAN_X,-116938.2,-1164.1,-252.1,134211.3,14419.3
$KALMAN_Y,98323.5,540.5,583.0,75931.8,-6729.8
$MHEAD_RNG_PITCHd_Wd,291.0,10452,-11.0,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.85,-146.6,0.0,0.0,0,125,0.00,0.00,-102.50,0.000,2,0.000,0.000,74,2403,3147
$GC,127,-0.85,-146.6,4.0,-2.9,5,153,12.25,2.72,-5.90,0.000,4,0.176,0.084,2222,987,3417
$GC,405,-0.85,-146.6,30.6,-8.3,17,410,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2409,3418
$GC,727,-0.85,-146.6,57.1,-8.0,33,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2410,3418
$GC,1036,-0.85,-146.6,83.5,-8.7,48,1041,0.00,2.70,0.00,0.000,4,0.000,0.068,2222,974,3418
$GC,1098,-0.85,-146.6,89.1,-8.9,51,1102,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2400,3418
$GC,1423,-0.85,-146.6,117.5,-8.5,67,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3418
$GC,1733,-0.85,-146.6,142.3,-7.9,82,1737,0.00,2.67,0.00,0.000,4,0.000,0.070,2222,978,3418
$GC,1810,-0.85,-146.6,148.5,-7.8,85,1817,0.00,2.65,0.00,0.000,6,0.000,0.057,2222,2403,3418
$GC,2125,-0.85,-146.6,173.0,-7.8,101,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2403,3418
$GC,2435,-0.85,-146.6,199.0,-8.3,116,2439,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,978,3418
$GC,2496,-0.85,-146.6,204.0,-8.2,119,2500,0.00,2.60,0.00,0.000,6,0.000,0.056,2222,2400,3418
$GC,2821,-0.85,-146.6,229.3,-7.6,135,2825,0.00,2.67,0.00,0.000,4,0.000,0.071,2222,977,3418
$GC,2859,-0.85,-146.6,232.2,-7.1,137,2864,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2406,3418
$GC,3185,-0.85,-146.6,256.4,-7.9,153,3189,0.00,2.70,0.00,0.000,4,0.000,0.072,2222,978,3418
$GC,3239,-0.85,-146.6,261.2,-8.8,155,3246,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2397,3417
$GC,3556,-0.85,-146.6,285.6,-7.4,171,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2397,3418
$GC,3864,-0.85,-146.6,309.7,-8.2,186,3869,0.00,2.67,0.00,0.000,4,0.000,0.073,2222,979,3418
$GC,3947,-0.85,-146.6,316.7,-8.2,190,3952,0.00,2.62,0.00,0.000,6,0.000,0.059,2222,2405,3418
$GC,4274,-0.85,-146.6,343.2,-7.9,206,4278,0.00,2.70,0.00,0.000,4,0.000,0.074,2222,979,3418
$GC,4339,-0.85,-146.6,348.2,-8.2,209,4344,0.00,2.60,0.00,0.000,6,0.000,0.059,2222,2400,3418
$GC,4666,-0.85,-146.6,369.7,-6.2,225,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3418
$GC,4975,-0.85,-146.6,390.5,-7.4,240,4979,0.00,2.67,0.00,0.000,4,0.000,0.072,2222,978,3418
$GC,5040,-0.85,-146.6,396.0,-8.6,243,5045,0.00,2.62,0.00,0.000,6,0.000,0.059,2222,2406,3418
$GC,5370,-0.85,-146.6,425.9,-9.2,259,5374,0.00,2.70,0.00,0.000,4,0.000,0.073,2222,979,3418
$GC,5480,-0.85,-146.6,435.9,-8.8,264,5484,0.00,2.62,0.00,0.000,6,0.000,0.058,2222,2405,3418
$GC,5807,-0.85,-146.6,459.1,-6.9,280,5811,0.00,2.72,0.00,0.000,4,0.000,0.074,2222,972,3418
$GC,5883,-0.85,-146.6,464.4,-7.1,283,5890,0.00,2.65,0.00,0.000,6,0.000,0.062,2222,2404,3418
$GC,6198,-0.85,-146.6,485.3,-7.1,299,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3418
$GC,6508,-0.85,-146.6,506.3,-7.0,314,6512,0.00,2.72,0.00,0.000,4,0.000,0.078,2221,979,3417
$GC,6579,-0.85,-146.6,511.6,-7.5,317,6583,0.00,2.65,0.00,0.000,6,0.000,0.064,2222,2402,3417
$GC,6900,-0.85,-146.6,536.8,-8.5,333,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3416
$STATE,6939,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6939,begin apogee
$GC,6944,-0.31,0.0,539.9,8.2,335,7067,0.60,0.00,119.68,1.091,6,0.120,0.000,2338,2192,2817
$STATE,7068,end apogee,CONTROL_FINISHED_OK
$STATE,7068,begin climb
$GC,7070,0.85,146.6,544.6,0.0,341,7192,1.30,0.00,117.85,1.095,6,0.109,0.000,2590,2192,2219
$GC,7491,0.96,254.4,527.9,3.0,362,7580,0.15,0.00,85.97,1.071,6,0.068,0.000,2627,2192,1779
$GC,7881,0.96,254.4,494.9,9.6,381,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2192,1777
$GC,8190,0.96,254.4,465.4,9.0,396,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2192,1776
$GC,8499,0.96,254.4,438.1,7.9,411,8503,0.00,2.70,0.00,0.000,4,0.000,0.080,2627,789,1775
$GC,8560,0.96,254.4,433.4,7.8,414,8564,0.00,2.65,0.00,0.000,6,0.000,0.060,2627,2202,1774
$GC,8885,0.99,275.0,413.9,5.4,430,8908,0.00,2.83,16.90,0.983,4,0.000,0.077,2627,787,1694
$GC,8957,0.99,275.0,409.2,7.2,433,8961,0.00,2.65,0.00,0.000,6,0.000,0.059,2627,2200,1693
$GC,9284,0.99,275.0,379.8,9.6,449,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2200,1691
$GC,9593,0.99,275.0,349.6,8.8,464,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2200,1691
$GC,9902,0.99,275.0,325.1,8.2,479,9907,0.00,2.70,0.00,0.000,4,0.000,0.072,2627,780,1691
$GC,9986,0.99,275.0,317.5,9.1,483,9991,0.00,2.62,0.00,0.000,6,0.000,0.052,2627,2204,1690
$GC,10311,0.99,275.0,288.9,8.5,499,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2204,1691
$GC,10621,0.99,275.0,262.5,8.5,514,10625,0.00,2.70,0.00,0.000,4,0.000,0.071,2627,782,1692
$GC,10675,0.99,275.0,257.5,9.3,516,10681,0.00,2.60,0.00,0.000,6,0.000,0.051,2627,2202,1691
$GC,10990,0.99,275.0,231.1,8.0,532,10991,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2202,1692
$GC,11299,0.99,275.0,206.5,7.8,547,11304,0.00,2.67,0.00,0.000,4,0.000,0.069,2627,781,1693
$GC,11345,0.99,275.0,202.8,8.8,549,11349,0.00,2.60,0.00,0.000,6,0.000,0.050,2627,2206,1692
$GC,11664,0.99,275.0,176.4,8.4,565,11665,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2206,1694
$GC,11973,0.99,275.0,149.7,8.9,580,11978,0.00,2.67,0.00,0.000,4,0.000,0.068,2627,784,1695
$GC,12013,0.99,275.0,146.4,9.1,582,12017,0.00,2.58,0.00,0.000,6,0.000,0.048,2627,2202,1695
$GC,12339,0.99,275.0,117.7,8.9,598,12340,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2202,1695
$GC,12648,0.99,275.0,88.2,10.1,613,12652,0.00,2.65,0.00,0.000,4,0.000,0.067,2627,787,1696
$GC,12691,0.99,275.0,83.6,10.9,615,12696,0.00,2.58,0.00,0.000,6,0.000,0.048,2627,2204,1695
$GC,13012,0.99,275.0,53.1,9.2,631,13013,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2204,1696
$GC,13321,0.99,275.0,25.7,8.7,646,13326,0.00,2.65,0.00,0.000,4,0.000,0.067,2627,787,1697
$GC,13361,0.99,275.0,22.3,8.9,648,13365,0.00,2.58,0.00,0.000,6,0.000,0.049,2627,2206,1697
$STATE,13623,end climb,SURFACE_DEPTH_REACHED
$STATE,13623,begin surface coast
$FINISH,0.8,1.001073
$STATE,13646,end surface coast,CONTROL_FINISHED_OK
$STATE,13646,begin surface
$SM_CCo,13666,171.30,0.671,2,0,508,566.15
$SM_GC,1.28,0.00,0.00,171.30,0.000,0.000,0.671,73,2404,508,-10.75,0.14,566.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2074
$TCM_TEMP,16.80
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,450.5,99.2
$24V_AH,23.5,30.146
$10V_AH,10.2,14.455
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.750,107.075,340.400,171.300,0.000,65.231,119.794,132.687,14.500,0.000,0.000,38.330,1214.498,10499.897,697.690,1480.511,454.104,33.370,1405.318,0.000,1430.087,0.000,25.129
$DEVICE_MAMPS,176.410,83.603,1095.276,671.125,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,483.274,454.396,459.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34856,662
$CFSIZE,260165632,249606144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,2,0
$GPS,131207,013022,6315.729,-848.698,39,2.4,58,-9.7